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<div class="title">stereo_matching.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#ifndef PCL_STEREO_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define PCL_STEREO_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html">   63</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_stereo_matching.html">StereoMatching</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html">StereoMatching</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_stereo_matching.html">StereoMatching</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">   75</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">setMaxDisparity</a> (<span class="keywordtype">int</span> max_disp)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      { </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        max_disp_ = max_disp;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">setXOffset</a> (<span class="keywordtype">int</span> x_off)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      { </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        x_off_ = x_off; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      };</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">setRatioFilter</a> (<span class="keywordtype">int</span> ratio_filter)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      { </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        ratio_filter_ = ratio_filter;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      };</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">setPeakFilter</a> (<span class="keywordtype">int</span> peak_filter)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      { </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        peak_filter_ = peak_filter;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      };</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">  117</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">setPreProcessing</a> (<span class="keywordtype">bool</span> is_pre_proc)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      { </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        is_pre_proc_ = is_pre_proc;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      };</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">  128</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">setLeftRightCheck</a> (<span class="keywordtype">bool</span> is_lr_check)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      { </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        is_lr_check_ = is_lr_check;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      };</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">  141</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">setLeftRightCheckThreshold</a> (<span class="keywordtype">int</span> lr_check_th)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      { </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        lr_check_th_ = lr_check_th;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      };</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">compute</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height) = 0;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a> &amp;ref, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a> &amp;trg) = 0;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">  171</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">medianFilter</a> (<span class="keywordtype">int</span> radius);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">  184</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">getPointCloud</a> (<span class="keywordtype">float</span> u_c, <span class="keywordtype">float</span> v_c, <span class="keywordtype">float</span> focal, <span class="keywordtype">float</span> baseline, pcl::PointCloud&lt;pcl::PointXYZ&gt;::Ptr cloud);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">  199</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">getPointCloud</a> (<span class="keywordtype">float</span> u_c, <span class="keywordtype">float</span> v_c, <span class="keywordtype">float</span> focal, <span class="keywordtype">float</span> baseline, pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr cloud,  pcl::PointCloud&lt;pcl::RGB&gt;::Ptr texture);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">  209</a></span>&#160;      <a class="code" href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">getVisualMap</a> (pcl::PointCloud&lt;pcl::RGB&gt;::Ptr vMap);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#ad75ea73c80e843b4f8348afb9d3dcf9b">  213</a></span>&#160;      <span class="keywordtype">short</span> <span class="keywordtype">int</span> *<a class="code" href="classpcl_1_1_stereo_matching.html#ad75ea73c80e843b4f8348afb9d3dcf9b">disp_map_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a626e46826cb843f91635e00a5a710e4f">  216</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* <a class="code" href="classpcl_1_1_stereo_matching.html#a626e46826cb843f91635e00a5a710e4f">ref_img_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img_;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a5b91204848cdbca8f7d4a759744cc853">  220</a></span>&#160;      <span class="keywordtype">short</span> <span class="keywordtype">int</span> *<a class="code" href="classpcl_1_1_stereo_matching.html#a5b91204848cdbca8f7d4a759744cc853">disp_map_trg_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a1f2ad6fe5bfc335a9ef44ef1e6605e2c">  223</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* <a class="code" href="classpcl_1_1_stereo_matching.html#a1f2ad6fe5bfc335a9ef44ef1e6605e2c">pp_ref_img_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* pp_trg_img_;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a6dee0d80b91b1a85bba4f5f647424de7">  227</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a6dee0d80b91b1a85bba4f5f647424de7">width_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#aaef4538d3f38fe1f9676e40a9e906686">  230</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#aaef4538d3f38fe1f9676e40a9e906686">height_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">  233</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">max_disp_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">  236</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">x_off_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">  239</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">ratio_filter_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">  242</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">peak_filter_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">  245</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">is_pre_proc_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">  248</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">is_lr_check_</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">  251</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">lr_check_th_</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      preProcessing (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *pp_img) = 0;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      imgFlip (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * &amp; img) = 0;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      compute_impl (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img) = 0;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      leftRightCheck ();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      computeStereoSubpixel (<span class="keywordtype">int</span> dbest, <span class="keywordtype">int</span> s1, <span class="keywordtype">int</span> s2, <span class="keywordtype">int</span> s3)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      {</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        <span class="keywordtype">int</span> den = (s1+s3-2*s2);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        <span class="keywordflow">if</span> (den != 0)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (16*dbest + (((s1 - s3)*8) / den)));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (dbest*16));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      computeStereoSubpixel (<span class="keywordtype">int</span> dbest, <span class="keywordtype">float</span> s1, <span class="keywordtype">float</span> s2, <span class="keywordtype">float</span> s3)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        <span class="keywordtype">float</span> den = (s1+s3-2*s2);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        <span class="keywordflow">if</span> (den != 0)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (16*dbest + floor(.5 + (((s1 - s3)*8) / den))));</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">short</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (dbest*16));</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      doStereoRatioFilter (<span class="keywordtype">int</span> *acc, <span class="keywordtype">short</span> <span class="keywordtype">int</span> dbest, <span class="keywordtype">int</span> sad_min, <span class="keywordtype">int</span> ratio_filter, <span class="keywordtype">int</span> maxdisp, <span class="keywordtype">int</span> precision = 100)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keywordtype">int</span> sad_second_min = std::numeric_limits&lt;int&gt;::max ();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; dbest - 1; d++)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;          <span class="keywordflow">if</span> (acc[d] &lt; sad_second_min)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;            sad_second_min = acc[d];</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = dbest + 2; d &lt; maxdisp; d++)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          <span class="keywordflow">if</span> (acc[d] &lt; sad_second_min)</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;            sad_second_min = acc[d];</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keywordflow">if</span> (sad_min * precision &gt; (precision - ratio_filter) * sad_second_min)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;          <span class="keywordflow">return</span> (-2);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordflow">else</span>    </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          <span class="keywordflow">return</span> (dbest);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      doStereoRatioFilter (<span class="keywordtype">float</span> *acc, <span class="keywordtype">short</span> <span class="keywordtype">int</span> dbest, <span class="keywordtype">float</span> sad_min, <span class="keywordtype">int</span> ratio_filter, <span class="keywordtype">int</span> maxdisp, <span class="keywordtype">int</span> precision = 100)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keywordtype">float</span> sad_second_min = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; dbest - 1; d++)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <span class="keywordflow">if</span> (acc[d] &lt; sad_second_min)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;            sad_second_min = acc[d];</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = dbest + 2; d &lt; maxdisp; d++)</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          <span class="keywordflow">if</span> (acc[d] &lt; sad_second_min)</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            sad_second_min = acc[d];</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keywordflow">if</span> (sad_min * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (precision) &gt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (precision - ratio_filter) * sad_second_min)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          <span class="keywordflow">return</span> (-2);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <span class="keywordflow">return</span> (dbest);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      doStereoPeakFilter (<span class="keywordtype">int</span> *acc, <span class="keywordtype">short</span> <span class="keywordtype">int</span> dbest, <span class="keywordtype">int</span> peak_filter, <span class="keywordtype">int</span> maxdisp)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keywordtype">int</span> da = (dbest&gt;1) ? ( acc[dbest-2] - acc[dbest] ) : (acc[dbest+2] - acc[dbest]);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <span class="keywordtype">int</span> db =  (dbest&lt;maxdisp-2) ? (acc[dbest+2] - acc[dbest]) : (acc[dbest-2] - acc[dbest]);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="keywordflow">if</span> (da + db &lt; peak_filter)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;          <span class="keywordflow">return</span> (-4);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          <span class="keywordflow">return</span> (dbest);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">short</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      doStereoPeakFilter (<span class="keywordtype">float</span> *acc, <span class="keywordtype">short</span> <span class="keywordtype">int</span> dbest, <span class="keywordtype">int</span> peak_filter, <span class="keywordtype">int</span> maxdisp)</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      {</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordtype">float</span> da = (dbest&gt;1) ? ( acc[dbest-2] - acc[dbest] ) : (acc[dbest+2] - acc[dbest]);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        <span class="keywordtype">float</span> db =  (dbest&lt;maxdisp-2) ? (acc[dbest+2] - acc[dbest]) : (acc[dbest-2] - acc[dbest]);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <span class="keywordflow">if</span> (da + db &lt; peak_filter)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">return</span> (-4);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          <span class="keywordflow">return</span> (dbest);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  };</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="classpcl_1_1_gray_stereo_matching.html">  357</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_stereo_matching.html">StereoMatching</a></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <a class="code" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a> (<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a> (<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00371"></a><span class="lineno"><a class="line" href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">  371</a></span>&#160;      <a class="code" href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">compute</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">  381</a></span>&#160;      <a class="code" href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a> &amp;ref, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a> &amp;trg);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      compute_impl (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img) = 0;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      preProcessing (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *pp_img);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      imgFlip (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * &amp; img);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  };</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classpcl_1_1_block_based_stereo_matching.html">  405</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_block_based_stereo_matching.html">BlockBasedStereoMatching</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <a class="code" href="classpcl_1_1_block_based_stereo_matching.html">BlockBasedStereoMatching</a> (<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_block_based_stereo_matching.html">BlockBasedStereoMatching</a> (<span class="keywordtype">void</span>) </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      {</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      };</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00418"></a><span class="lineno"><a class="line" href="classpcl_1_1_block_based_stereo_matching.html#a4ae123b3882ba9a58bb240802324e1e5">  418</a></span>&#160;      <a class="code" href="classpcl_1_1_block_based_stereo_matching.html#a4ae123b3882ba9a58bb240802324e1e5">setRadius</a> (<span class="keywordtype">int</span> radius)</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      {</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;        radius_ = radius;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      };</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      compute_impl (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160; </div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <span class="keywordtype">int</span> radius_;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  };</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html">  442</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html">AdaptiveCostSOStereoMatching</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_gray_stereo_matching.html">GrayStereoMatching</a></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html">AdaptiveCostSOStereoMatching</a> (<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html">AdaptiveCostSOStereoMatching</a> (<span class="keywordtype">void</span>) </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      };</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4291a87771b7767e33a1eb7f1e150ed5">  456</a></span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4291a87771b7767e33a1eb7f1e150ed5">setRadius</a> (<span class="keywordtype">int</span> radius)</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        radius_ = radius;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      };</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4860435a544218a77b5baf07d0de2859">  465</a></span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4860435a544218a77b5baf07d0de2859">setGammaS</a> (<span class="keywordtype">int</span> gamma_s)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        gamma_s_ = gamma_s;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      };</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a0836cd23ed2cd492cc843c218175bc60">  474</a></span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a0836cd23ed2cd492cc843c218175bc60">setGammaC</a> (<span class="keywordtype">int</span> gamma_c)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        gamma_c_ = gamma_c;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;      };</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#afce768d9af6b39e06b157cae7365b31c">  483</a></span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#afce768d9af6b39e06b157cae7365b31c">setSmoothWeak</a> (<span class="keywordtype">int</span> smoothness_weak)</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      {</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        smoothness_weak_ = smoothness_weak;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      };</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4ed2bef379b67f9f2c74ff163adb0839">  492</a></span>&#160;      <a class="code" href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4ed2bef379b67f9f2c74ff163adb0839">setSmoothStrong</a> (<span class="keywordtype">int</span> smoothness_strong)</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      {</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        smoothness_strong_ = smoothness_strong;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      };</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      compute_impl (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* ref_img, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* trg_img);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="keywordtype">int</span> radius_;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160; </div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="comment">//parameters for adaptive weight cost aggregation</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      <span class="keywordtype">double</span> gamma_c_;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="keywordtype">double</span> gamma_s_;</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      <span class="comment">//Parameters for 2-pass SO optimization</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keywordtype">int</span> smoothness_strong_;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      <span class="keywordtype">int</span> smoothness_weak_;</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  };</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;}</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html">pcl::AdaptiveCostSOStereoMatching</a></div><div class="ttdoc">Adaptive Cost 2-pass Scanline Optimization Stereo Matching class</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:443</div></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html_a0836cd23ed2cd492cc843c218175bc60"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a0836cd23ed2cd492cc843c218175bc60">pcl::AdaptiveCostSOStereoMatching::setGammaC</a></div><div class="ttdeci">void setGammaC(int gamma_c)</div><div class="ttdoc">setter for the color bandwith used for cost aggregation based on adaptive weights</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:474</div></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html_a4291a87771b7767e33a1eb7f1e150ed5"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4291a87771b7767e33a1eb7f1e150ed5">pcl::AdaptiveCostSOStereoMatching::setRadius</a></div><div class="ttdeci">void setRadius(int radius)</div><div class="ttdoc">setter for the radius (half length) of the column used for cost aggregation</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:456</div></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html_a4860435a544218a77b5baf07d0de2859"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4860435a544218a77b5baf07d0de2859">pcl::AdaptiveCostSOStereoMatching::setGammaS</a></div><div class="ttdeci">void setGammaS(int gamma_s)</div><div class="ttdoc">setter for the spatial bandwith used for cost aggregation based on adaptive weights</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html_a4ed2bef379b67f9f2c74ff163adb0839"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#a4ed2bef379b67f9f2c74ff163adb0839">pcl::AdaptiveCostSOStereoMatching::setSmoothStrong</a></div><div class="ttdeci">void setSmoothStrong(int smoothness_strong)</div><div class="ttdoc">&quot;strong&quot; smoothness penalty used within 2-pass Scanline Optimization</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:492</div></div>
<div class="ttc" id="aclasspcl_1_1_adaptive_cost_s_o_stereo_matching_html_afce768d9af6b39e06b157cae7365b31c"><div class="ttname"><a href="classpcl_1_1_adaptive_cost_s_o_stereo_matching.html#afce768d9af6b39e06b157cae7365b31c">pcl::AdaptiveCostSOStereoMatching::setSmoothWeak</a></div><div class="ttdeci">void setSmoothWeak(int smoothness_weak)</div><div class="ttdoc">&quot;weak&quot; smoothness penalty used within 2-pass Scanline Optimization</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:483</div></div>
<div class="ttc" id="aclasspcl_1_1_block_based_stereo_matching_html"><div class="ttname"><a href="classpcl_1_1_block_based_stereo_matching.html">pcl::BlockBasedStereoMatching</a></div><div class="ttdoc">Block based (or fixed window) Stereo Matching class</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:406</div></div>
<div class="ttc" id="aclasspcl_1_1_block_based_stereo_matching_html_a4ae123b3882ba9a58bb240802324e1e5"><div class="ttname"><a href="classpcl_1_1_block_based_stereo_matching.html#a4ae123b3882ba9a58bb240802324e1e5">pcl::BlockBasedStereoMatching::setRadius</a></div><div class="ttdeci">void setRadius(int radius)</div><div class="ttdoc">setter for the radius of the squared window</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_gray_stereo_matching_html"><div class="ttname"><a href="classpcl_1_1_gray_stereo_matching.html">pcl::GrayStereoMatching</a></div><div class="ttdoc">Stereo Matching abstract class for Grayscale images</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1_gray_stereo_matching_html_a164869d4f6823d3d962a1ad6c9092771"><div class="ttname"><a href="classpcl_1_1_gray_stereo_matching.html#a164869d4f6823d3d962a1ad6c9092771">pcl::GrayStereoMatching::compute</a></div><div class="ttdeci">virtual void compute(unsigned char *ref_img, unsigned char *trg_img, int width, int height)</div><div class="ttdoc">stereo processing, it computes a disparity map stored internally by the class</div></div>
<div class="ttc" id="aclasspcl_1_1_gray_stereo_matching_html_a8f4521554a5d59d20075e868c7e06475"><div class="ttname"><a href="classpcl_1_1_gray_stereo_matching.html#a8f4521554a5d59d20075e868c7e06475">pcl::GrayStereoMatching::compute</a></div><div class="ttdeci">virtual void compute(pcl::PointCloud&lt; pcl::RGB &gt; &amp;ref, pcl::PointCloud&lt; pcl::RGB &gt; &amp;trg)</div><div class="ttdoc">stereo processing, it computes a disparity map stored internally by the class</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::RGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html">pcl::StereoMatching</a></div><div class="ttdoc">Stereo Matching abstract class</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a047a59ada6606c9dea36b263f8c99136"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a047a59ada6606c9dea36b263f8c99136">pcl::StereoMatching::setPeakFilter</a></div><div class="ttdeci">void setPeakFilter(int peak_filter)</div><div class="ttdoc">setter for the value of the peak filter</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a1a579e7d63cb1387602a4f0fdfe90419"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a1a579e7d63cb1387602a4f0fdfe90419">pcl::StereoMatching::setMaxDisparity</a></div><div class="ttdeci">void setMaxDisparity(int max_disp)</div><div class="ttdoc">setter for number of disparity candidates (disparity range)</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a1f2ad6fe5bfc335a9ef44ef1e6605e2c"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a1f2ad6fe5bfc335a9ef44ef1e6605e2c">pcl::StereoMatching::pp_ref_img_</a></div><div class="ttdeci">unsigned char * pp_ref_img_</div><div class="ttdoc">Local aligned copies used for pre processing.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a275e0342aea6c51ccab9d529d74a2831"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a275e0342aea6c51ccab9d529d74a2831">pcl::StereoMatching::peak_filter_</a></div><div class="ttdeci">int peak_filter_</div><div class="ttdoc">Threshold for the peak filter,</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a2e6382c53f7b89a3aa904abdd8fe5fec"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a2e6382c53f7b89a3aa904abdd8fe5fec">pcl::StereoMatching::setXOffset</a></div><div class="ttdeci">void setXOffset(int x_off)</div><div class="ttdoc">setter for horizontal offset, i.e. number of pixels to shift the disparity range over the target imag...</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a3262d09c0cdb69059c63c7578f499445"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a3262d09c0cdb69059c63c7578f499445">pcl::StereoMatching::is_lr_check_</a></div><div class="ttdeci">bool is_lr_check_</div><div class="ttdoc">toggle for the activation of the left-right consistency check stage</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a585b2b60aa7a9eef0bcb2d08be4334be"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a585b2b60aa7a9eef0bcb2d08be4334be">pcl::StereoMatching::setLeftRightCheck</a></div><div class="ttdeci">void setLeftRightCheck(bool is_lr_check)</div><div class="ttdoc">setter for the left-right consistency check stage, that eliminates inconsistent/wrong disparity value...</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a5b91204848cdbca8f7d4a759744cc853"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a5b91204848cdbca8f7d4a759744cc853">pcl::StereoMatching::disp_map_trg_</a></div><div class="ttdeci">short int * disp_map_trg_</div><div class="ttdoc">Disparity map used for left-right check.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a626e46826cb843f91635e00a5a710e4f"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a626e46826cb843f91635e00a5a710e4f">pcl::StereoMatching::ref_img_</a></div><div class="ttdeci">unsigned char * ref_img_</div><div class="ttdoc">Local aligned copies of the cloud data.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a656a1e68728d6332e42aeb349379e369"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a656a1e68728d6332e42aeb349379e369">pcl::StereoMatching::lr_check_th_</a></div><div class="ttdeci">int lr_check_th_</div><div class="ttdoc">Threshold for the left-right consistency check, typically either 0 or 1</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a6dee0d80b91b1a85bba4f5f647424de7"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a6dee0d80b91b1a85bba4f5f647424de7">pcl::StereoMatching::width_</a></div><div class="ttdeci">int width_</div><div class="ttdoc">number of pixels per column of the input stereo pair .</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a6dfc0a33f0afc34852ce4addf2a5f828"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a6dfc0a33f0afc34852ce4addf2a5f828">pcl::StereoMatching::compute</a></div><div class="ttdeci">virtual void compute(unsigned char *ref_img, unsigned char *trg_img, int width, int height)=0</div><div class="ttdoc">stereo processing, it computes a disparity map stored internally by the class</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a8123aa5819a47c068c8e126481dcdc36"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a8123aa5819a47c068c8e126481dcdc36">pcl::StereoMatching::setLeftRightCheckThreshold</a></div><div class="ttdeci">void setLeftRightCheckThreshold(int lr_check_th)</div><div class="ttdoc">setter for the left-right consistency check threshold</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a8567c368513b675fc5e86e95c9e9d1f0"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a8567c368513b675fc5e86e95c9e9d1f0">pcl::StereoMatching::ratio_filter_</a></div><div class="ttdeci">int ratio_filter_</div><div class="ttdoc">Threshold for the ratio filter,</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a9457e333d4c281d5a45e2495775c6fd2"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a9457e333d4c281d5a45e2495775c6fd2">pcl::StereoMatching::getVisualMap</a></div><div class="ttdeci">void getVisualMap(pcl::PointCloud&lt; pcl::RGB &gt;::Ptr vMap)</div><div class="ttdoc">computation of a pcl::RGB cloud with scaled disparity values it can be used to display a rescaled ver...</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_a991b1fd18ba88d09637a1d3b0504153b"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#a991b1fd18ba88d09637a1d3b0504153b">pcl::StereoMatching::max_disp_</a></div><div class="ttdeci">int max_disp_</div><div class="ttdoc">Disparity range used for stereo processing.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_aa1dd7ee550d99d00a56727ad6e226f48"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#aa1dd7ee550d99d00a56727ad6e226f48">pcl::StereoMatching::compute</a></div><div class="ttdeci">virtual void compute(pcl::PointCloud&lt; pcl::RGB &gt; &amp;ref, pcl::PointCloud&lt; pcl::RGB &gt; &amp;trg)=0</div><div class="ttdoc">stereo processing, it computes a disparity map stored internally by the class</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_aa37fb215c40ea6e9bb2617667bcbd17e"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#aa37fb215c40ea6e9bb2617667bcbd17e">pcl::StereoMatching::setRatioFilter</a></div><div class="ttdeci">void setRatioFilter(int ratio_filter)</div><div class="ttdoc">setter for the value of the ratio filter</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_aabedfd59ee3b38b52d9bc7510bcca142"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#aabedfd59ee3b38b52d9bc7510bcca142">pcl::StereoMatching::medianFilter</a></div><div class="ttdeci">void medianFilter(int radius)</div><div class="ttdoc">median filter applied on the previously computed disparity map Note: the &quot;compute&quot; method must have b...</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_aaef4538d3f38fe1f9676e40a9e906686"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#aaef4538d3f38fe1f9676e40a9e906686">pcl::StereoMatching::height_</a></div><div class="ttdeci">int height_</div><div class="ttdoc">number of pixels per row of the input stereo pair .</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_abc8a13b6d22e1b08fc9937333b0504e7"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#abc8a13b6d22e1b08fc9937333b0504e7">pcl::StereoMatching::x_off_</a></div><div class="ttdeci">int x_off_</div><div class="ttdoc">Horizontal displacemente (x offset) used for stereo processing</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_ac9613b9bcbd5e606bc6d5bf193d5625c"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#ac9613b9bcbd5e606bc6d5bf193d5625c">pcl::StereoMatching::setPreProcessing</a></div><div class="ttdeci">void setPreProcessing(bool is_pre_proc)</div><div class="ttdoc">setter for the pre processing step</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:117</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_ad5cb4b96c50b127e38ff3b291e602c00"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#ad5cb4b96c50b127e38ff3b291e602c00">pcl::StereoMatching::getPointCloud</a></div><div class="ttdeci">virtual bool getPointCloud(float u_c, float v_c, float focal, float baseline, pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr cloud)</div><div class="ttdoc">computation of the 3D point cloud from the previously computed disparity map without color informatio...</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_ad75ea73c80e843b4f8348afb9d3dcf9b"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#ad75ea73c80e843b4f8348afb9d3dcf9b">pcl::StereoMatching::disp_map_</a></div><div class="ttdeci">short int * disp_map_</div><div class="ttdoc">The internal disparity map.</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_adae373bb5275a9c3ea35a69e9c3c2cbb"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#adae373bb5275a9c3ea35a69e9c3c2cbb">pcl::StereoMatching::getPointCloud</a></div><div class="ttdeci">virtual bool getPointCloud(float u_c, float v_c, float focal, float baseline, pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr cloud, pcl::PointCloud&lt; pcl::RGB &gt;::Ptr texture)</div><div class="ttdoc">computation of the 3D point cloud from the previously computed disparity map including color informat...</div></div>
<div class="ttc" id="aclasspcl_1_1_stereo_matching_html_ae5891b7558f219781df47c59476aa7cc"><div class="ttname"><a href="classpcl_1_1_stereo_matching.html#ae5891b7558f219781df47c59476aa7cc">pcl::StereoMatching::is_pre_proc_</a></div><div class="ttdeci">bool is_pre_proc_</div><div class="ttdoc">toggle for the activation of the pre-processing stage</div><div class="ttdef"><b>Definition:</b> stereo_matching.h:245</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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